DocumentCode
2197359
Title
Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot
Author
Zhao, Tie-jun ; Yuan, Jing ; Zhao, Ming-yang ; Tan, Da-long
Author_Institution
Shenyang Univ. of Technol., Shenyang
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
1553
Lastpage
1558
Abstract
We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self-motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm´s dead weight were analyzed.
Keywords
humanoid robots; mobile robots; motion control; robot dynamics; robot kinematics; anthropomorphic 7-DOF robotic arm; mobile humanoid robot; motion scheduling; robot dynamics; robot kinematics; task scheduling; Anthropomorphism; Arm; Elbow; Humanoid robots; Humans; Intelligent robots; Kinematics; Manipulators; Mobile robots; Shoulder; Arm; Dynamics; Humanoid Robot; Kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location
Kunming
Print_ISBN
1-4244-0570-X
Electronic_ISBN
1-4244-0571-8
Type
conf
DOI
10.1109/ROBIO.2006.340175
Filename
4142097
Link To Document